public AffineTransformMatrix3D toMatrix()

in commons-geometry-euclidean/src/main/java/org/apache/commons/geometry/euclidean/threed/rotation/QuaternionRotation.java [173:213]

• 32 lines of code
• 1 McCabe index (conditional complexity)

    public AffineTransformMatrix3D toMatrix() {

        final double qw = quat.getW();
        final double qx = quat.getX();
        final double qy = quat.getY();
        final double qz = quat.getZ();

        // pre-calculate products that we'll need
        final double xx = qx * qx;
        final double xy = qx * qy;
        final double xz = qx * qz;
        final double xw = qx * qw;

        final double yy = qy * qy;
        final double yz = qy * qz;
        final double yw = qy * qw;

        final double zz = qz * qz;
        final double zw = qz * qw;

        final double m00 = 1.0 - (2.0 * (yy + zz));
        final double m01 = 2.0 * (xy - zw);
        final double m02 = 2.0 * (xz + yw);
        final double m03 = 0.0;

        final double m10 = 2.0 * (xy + zw);
        final double m11 = 1.0 - (2.0 * (xx + zz));
        final double m12 = 2.0 * (yz - xw);
        final double m13 = 0.0;

        final double m20 = 2.0 * (xz - yw);
        final double m21 = 2.0 * (yz + xw);
        final double m22 = 1.0 - (2.0 * (xx + yy));
        final double m23 = 0.0;

        return AffineTransformMatrix3D.of(
                    m00, m01, m02, m03,
                    m10, m11, m12, m13,
                    m20, m21, m22, m23
                );
    }